CN114940435A - Fixed-point slag grabbing system and method - Google Patents
Fixed-point slag grabbing system and method Download PDFInfo
- Publication number
- CN114940435A CN114940435A CN202210698348.7A CN202210698348A CN114940435A CN 114940435 A CN114940435 A CN 114940435A CN 202210698348 A CN202210698348 A CN 202210698348A CN 114940435 A CN114940435 A CN 114940435A
- Authority
- CN
- China
- Prior art keywords
- slag
- grabbing
- point
- grab bucket
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/02—Bucket grabs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Furnace Details (AREA)
Abstract
The application relates to the technical field of kiln slag treatment, and provides a fixed-point slag grabbing system and a fixed-point slag grabbing method, wherein the system comprises: the device comprises a position detection device, a grab bucket weighing detection device and a control unit. The control unit is configured to perform the following operations: acquiring relative position parameters of a grab bucket center point and a fixed slag grabbing point; waiting time T for piling up kiln slag 1 Then, controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, and acquiring a signal that the grab bucket contacts the fixed slag grabbing point; controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point; quenching the kiln slag at the fixed slag grabbing point from waterThe pond is grabbed to an intermediate slag yard. The fixed-point slag grabbing system can realize automatic slag grabbing action and obtain high grabbing fullness, so that the running times of the bridge crane are reduced, and manpower and material resources are saved.
Description
Technical Field
The application relates to the technical field of kiln slag treatment, in particular to a fixed-point slag grabbing system and method.
Background
In order to recycle iron dust in steel production, a treatment production line can be built in an iron and steel plant, iron-containing dust is returned to the production and utilization process, iron elements can form solid iron-containing kiln slag, the solid iron-containing kiln slag is discharged from a kiln head and enters a kiln slag treatment system, the solid iron-containing kiln slag is treated to serve as a sintering raw material, and the sintering raw material is conveyed to be sintered for batching.
As shown in fig. 1, which is a top view of a slag treatment system of an existing iron kiln, the slag treatment system comprises a water quenching tank 01, a slag flushing channel 02, a bridge crane 03, a bridge crane operation chamber 04 and an intermediate slag field 05; as shown in fig. 2, the rotary kiln 06 and a discharge port 061 are also included, and the arrow in the figure is the slag flushing direction. The kiln slag treatment process is as follows: the kiln slag is continuously discharged from a discharge port 061 of the rotary kiln 06, is introduced into a slag flushing chute for water granulation, enters a water quenching tank 01 for soaking and cooling, is grabbed by a grab bucket 031 controlled by a bridge crane 03 after being cooled, and is conveyed to an intermediate slag yard 05 for natural drainage and airing. Kiln slag discharged from the rotary kiln 06 is in a high-temperature molten state, is discharged into the water quenching tank 01 to be soaked, cooled and solidified into granules, and is accumulated in a position close to the slag flushing channel 02 in the water quenching tank 01, so that an operator needs to operate the bridge crane 03 to clean the kiln slag.
In the kiln slag treatment process, after high-temperature kiln slag discharged from the kiln head of the rotary kiln 06 is discharged into the water quenching tank 01, water is evaporated, so that a large amount of water vapor is generated; in addition, the kiln slag is positioned at the bottom of the water quenching tank 01, and impurities exist in the tank; these factors can interfere with the operator's line of sight; therefore, an operator hardly selects a proper grabbing position accurately, the full grabbing rate of each operation is low, the single grabbing efficiency is low, and finally manpower and material resources are wasted.
Disclosure of Invention
In order to obtain high full rate of grabbing, thereby reduce the number of times of operation of bridge crane, practice thrift manpower and materials, this application provides a fixed point and grabs sediment system and method.
This application first aspect provides a sediment system is grabbed to fixed point, the system is applied to bridge crane, bridge crane is located directly over the shrend pond, bridge crane is including the grab bucket that is used for grabbing the material, the grab bucket can be at shrend pond top level or vertical migration for grab the regional kiln slag of windrow to middle slag field, shrend pond bottom is close to towards the sediment passageway and is regional for the windrow, the sediment system is grabbed to the fixed point includes:
the device comprises a position detection device arranged on the surface of the bridge crane, wherein the position detection device is used for acquiring the three-dimensional space position of the central point of the grab bucket and the position of a fixed slag grabbing point, and the fixed slag grabbing point is the highest point of a stacking area.
The grab bucket weighing detection device is arranged above the grab bucket; the grab weighing detection device is used for acquiring grab weight parameters.
And the control unit is arranged on the surface of the bridge crane, is connected with the position detection device and the grab bucket weighing detection device, and controls the grab bucket to move so as to complete fixed-point slag grabbing action.
The control unit is configured to perform the following operations:
and acquiring the relative position parameters of the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameters of the grab bucket center point and the fixed slag grabbing point position parameters sent by the position detection device.
Waiting time T for piling up kiln slag 1 And then controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, wherein the kiln slag accumulation waiting time is the time taken for the rotary kiln to start discharging until the initial accumulation height of the grabbing slag is allowed.
And acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to the grab bucket weight parameter sent by the grab bucket weighing and detecting device.
And controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point.
And grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field.
Optionally, the step of judging whether the grab bucket contacts the kiln slag specifically comprises:
the grab bucket weighing detection device acquires a tension parameter W of the no-load grab bucket which is not in contact with the kiln slag 1 。
Grab weighing detection device for acquiring real-time tension parameter W of no-load grab 2 。
If W is 2 ≤k 1 W 1 When the grab bucket contacts the kiln slag, k 1 For adjusting the coefficient, 0.8-0.98 is taken.
Optionally, the step of obtaining the fixed slag catching point includes:
and confirming a primary slag grabbing point, wherein the primary slag grabbing point is positioned on the middle line of the vertical slag flushing channel.
Obtaining the distance between the primary slag grabbing point and the wall of the water quenching tank, and calculating the distance from the wall of the water quenching tank according to the following formula:
d is the distance between the primary slag grabbing point and the wall of the water quenching tank, W is the width of the water quenching tank, H is the initial stacking height of the kiln slag, and A is the repose angle of the kiln slag stack.
The initial stacking height H of the kiln slag is calculated according to the following model:
H＝H 1 -H 2 -H 3 -H 4
H 1 the distance H from the position of the rotation axis of the grab bucket to the water surface 2 The distance between the slag grabbing points is fixed for the lowest position of the grab bucket, H 3 Is the depth of water in the water quenching tank, H 4 The height of the grab itself.
Optionally, after the preliminary slag grabbing point is confirmed, an automatic correction process is further included, where the automatic correction process includes:
and 6 correction comparison points are selected on the middle line of the vertical slag flushing channel of the initial slag grabbing point, and the distance between every two adjacent correction comparison points is 300 mm.
The bridge crane respectively grabs the kiln slag once at the 6 correction comparison points and the initial slag grabbing points.
And calculating the full grabbing rate of the corrected comparison point and the initial slag grabbing point.
And selecting the position with the highest grabbing fullness as a fixed grabbing slag point according to the grabbing fullness of the correction comparison point and the initial grabbing slag point.
Optionally, the full capture rate obtaining method is as follows:
when the grab bucket grabs the kiln slag at the 6 correction comparison points and the initial slag grabbing point, and the grab bucket stays in the water of the water quenching tank for 2 seconds, the full grabbing rate is obtained.
Obtaining the volume V of a grab d And the density rho of water in the water quenching tank 1 Density rho of kiln slag 2 The weight m of the real-time grab bucket and the weight m of the no-load grab bucket which are acquired by the grab bucket weighing and detecting device d 。
According to the volume of the grab bucket, the density of water in the water quenching tank, the density of kiln slag, the tension value obtained by the grab bucket weighing detection device and the weight of the no-load grab bucket, obtaining the full grab rate by adopting a full grab rate calculation model, wherein the full grab rate calculation model comprises the following steps:
η 0 the fill rate is indicated.
Optionally, when the actual full-grabbing rate is lower than the full-grabbing rate of 80% of the fixed slag-grabbing points, automatically correcting again, and selecting new fixed slag-grabbing points to obtain the full-grabbing rate closest to the fixed slag-grabbing points.
Optionally, the kiln slag accumulation waiting time T 1 Calculated according to the following formula:
v is the initial accumulation volume of the kiln slag, s is the slag discharge rate of the rotary kiln slag expressed by volume, Q is the slag discharge rate of the rotary kiln slag expressed by mass, rho 2 For the density of the kiln slag, k for simplifying the calculation of the bulk volume of the kiln slagAnd taking the calculation coefficient, wherein H is the initial stacking height of the kiln slag, and A is the repose angle of the kiln slag.
Optionally, after the kiln slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag field, the grab bucket returns to the original position, and after the grab bucket returns to the original position, the slag grabbing for the nth time needs to be carried out at the slag grabbing interval time t n Then, starting to grab the slag for the next time, wherein the time t is the interval between the slag grabbing and the slag grabbing n The calculation model of (a) is:
m n-1 the slag grabbing amount of the last slag grabbing of the nth slag grabbing is n, n is more than or equal to 3, and Q is the slag tapping rate of the kiln slag of the rotary kiln expressed by quality.
When n is 2, the calculation model of the slag grabbing interval time is as follows:
t 2 the interval time between the first slag grabbing and the second slag grabbing, V d Is the volume of the grab bucket eta 0 To grasp the full rate, ρ 2 Is the density of the kiln slag.
The second aspect of the application provides a sediment method is grabbed to fixed point, the sediment method is grabbed to fixed point is applied to bridge crane, bridge crane is located directly over the shrend pond, bridge crane is including the grab bucket that is used for grabbing the material, the grab bucket can be at shrend pond top level or vertical migration for grab the regional kiln slag of windrow to middle slag yard, shrend pond bottom is close to towards the sediment passageway and is the windrow region, the sediment method is grabbed to fixed point includes:
and acquiring the relative position parameters of the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameters of the grab bucket center point and the fixed slag grabbing point position parameters sent by the position detection device.
Waiting time T for piling up kiln slag 1 Then, according to the relative position parameters, the grab bucket is controlled to move to a fixed slag grabbing pointThe kiln slag stacking waiting time is the time taken for the rotary kiln to start discharging to the initial stacking height allowing slag grabbing.
And acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to the grab bucket weight parameter sent by the grab bucket weighing and detecting device.
And controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point.
And grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field.
According to the technical scheme, the application provides a fixed-point slag grabbing system and a method, and the system comprises: the device comprises a position detection device arranged on the surface of the bridge crane, a grab bucket weighing detection device arranged above the grab bucket and a control unit arranged on the surface of the bridge crane. The control unit is configured to perform the following operations: acquiring relative position parameters of the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameter of the grab bucket center point and the fixed slag grabbing point position parameter sent by the position detection device; waiting time T for piling up kiln slag 1 Then, controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, wherein the kiln slag accumulation waiting time is the time for the rotary kiln to start discharging until the initial accumulation height of slag grabbing is allowed; acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to the grab bucket weight parameter sent by the grab bucket weighing detection device; controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point; and grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field. The fixed-point slag grabbing system can realize automatic slag grabbing action and obtain high grabbing fullness, so that the running times of the bridge crane are reduced, and manpower and material resources are saved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a top view of a conventional iron kiln slag treatment system;
FIG. 2 is a front view of a prior art iron kiln slag treatment system;
FIG. 3 is a flowchart of a fixed-point slag grabbing method provided in the embodiment of the present application;
FIG. 4 is a schematic view of a fixed slag grasping point;
fig. 5 is a scene diagram of a fixed slag grabbing point in a slag grabbing system, wherein a is a top view of the fixed slag grabbing point in the slag grabbing system, and b is a front view of the fixed slag grabbing point slag grabbing system;
FIG. 6 is a schematic diagram of a distribution of modified contrast points;
FIG. 7 is a top view of the intermediate slag field and the water quenching tank;
fig. 8 is an architecture diagram of a fixed-point slag grabbing system provided in an embodiment of the present application;
fig. 9 is a flowchart illustrating a working process of a control unit in the fixed point slag grabbing system according to the embodiment of the present application;
fig. 10 is a schematic diagram showing the position of the rotation shaft of the grapple and the lowest position of the grapple.
Wherein:
01-water quenching tank, 02-slag flushing channel, 03-bridge crane, 031-grab bucket, 04-bridge crane operation chamber, 05-intermediate slag field, 06-rotary kiln, 061-discharge port, 1-position detection device, 2-grab bucket weighing detection device and 3-control unit.
Detailed Description
Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as examples of systems and methods consistent with certain aspects of the application, as detailed in the claims.
In order to obtain a high grabbing fullness rate, thereby reducing the running times of a bridge crane and saving manpower and material resources, the embodiment of the application provides a fixed-point slag grabbing system and method.
Fig. 2 is a front view of a conventional iron kiln slag treatment system. Fig. 5 is a scene diagram of a fixed slag grabbing point in a slag grabbing system. Referring to fig. 2 and 5, the system is applied to a bridge crane 03, the bridge crane 03 is positioned right above a water quenching tank 01, the bridge crane 03 comprises a grab 031 for grabbing materials, the grab 031 can move horizontally or vertically above the water quenching tank 01 and is used for grabbing kiln slag in a stacking area to an intermediate slag yard 05, and the bottom of the water quenching tank 01 is close to a slag flushing channel 02 and is a stacking area.
Fig. 8 is an architecture diagram of a fixed-point slag grabbing system provided in an embodiment of the present application.
Referring to fig. 8, the fixed point slag grabbing system provided by the embodiment of the present application includes: the position detection device 1 is arranged on the surface of the bridge crane, the position detection device 1 is used for acquiring the three-dimensional space position of the central point of the grab bucket and the position of a fixed slag grabbing point, and the fixed slag grabbing point is the highest point of a stacking area; the grab bucket weighing and detecting device 2 is arranged above the grab bucket; the grab bucket weighing and detecting device 2 is used for acquiring grab bucket weight parameters; the control unit 3 is arranged on the surface of the bridge crane 03, the control unit 3 is connected with the position detection device 1 and the grab bucket weighing detection device 2, and the grab bucket 031 is controlled to move so as to complete fixed-point slag grabbing.
The position detection device 1 can obtain the three-dimensional space position of the center point of the grab bucket 031 and the position of the fixed slag grabbing point through a position encoder, laser ranging, a position induction belt and the like.
The grab bucket weighing detection device 2 can be provided with a weighing sensor at a proper position of a winch, a cart, a trolley and the like of the bridge crane 03, the precision of the sensor meets the requirement, the weighing sensor can detect the total weight of the equipment which is automatically fished up by the grab bucket and the kiln slag, and the weight data is transmitted to the weighing detection device 2 for analysis and judgment.
The control unit 3 and the control unit 3 are connected with various motors, limiting protection devices and the like on the bridge crane 03, and mature schemes and products, such as a complete set of electric control cabinet provided by bridge crane manufacturers, are available on the market. The crane can receive control instructions to control the operation of a motor on the bridge crane, and complete the actions of moving a crane cart, moving a trolley, lifting or putting down the grab bucket 031 and opening or closing the grab bucket 031.
Fig. 9 is a flowchart of a work of a control unit in the fixed point slag grabbing system according to the embodiment of the present application.
Referring to fig. 9, in the embodiment of the present application, the control unit is configured to perform the following steps:
step 101, obtaining relative position parameters of a grab bucket center point and a fixed slag grabbing point according to a three-dimensional space position parameter of the grab bucket center point and a fixed slag grabbing point position parameter sent by a position detection device.
Referring to fig. 2, the three-dimensional space position of the central point of the grab bucket is represented by three-dimensional coordinates (a, B, C), where a is an abscissa of the central point of the grab bucket, B is an ordinate of the central point of the grab bucket, and C is an ordinate of the central point of the grab bucket.
Position encoders are arranged on a cart walking motor, a trolley walking motor and a hoisting motor of the bridge crane 03, so that the cart position and the height of the central point of the grab bucket of the bridge crane 03 can be obtained; the small car is fixed on the big car, and the big car can move on the big car track.
Fig. 4 is a schematic view of a fixed slag grabbing point, fig. 5 is a scene view of the fixed slag grabbing point in a slag grabbing system, and fig. 7 is a top view of an intermediate slag field and a water quenching tank. Referring to fig. 4, 5 and 7, the kiln slag pile is approximated to be a cone, and the highest point of the kiln slag pile is selected as a fixed slag grabbing point by combining theoretical calculation and automatic correction.
The grab 031 is opened when grabbing the sediment, and the grab 031 is closed when touching the kiln sediment. The slag grabbing point refers to a three-dimensional space coordinate corresponding to the highest point of the kiln slag pile; the two-dimensional plane projection is a defined point which in the height direction is a value which varies over a certain area in relation to the opening and closing state of the grab.
The step of obtaining the fixed slag grabbing point comprises the following steps:
and confirming a primary slag grabbing point, wherein the primary slag grabbing point is positioned on the middle line of the vertical slag flushing channel.
Obtaining the distance between the initial slag grabbing point and the wall of the water quenching tank, and calculating the distance from the water quenching tank to the wall of 01 according to the following formula:
d is the distance between the initial slag grabbing point and the wall of the water quenching pool 01, W is the width of the water quenching pool 01, H is the initial stacking height of the kiln slag, and A is the repose angle of the kiln slag stack.
The initial stacking height H of the kiln slag is calculated according to the following model:
H＝H 1 -H 2 -H 3 -H 4
H 1 the distance H from the position of the rotation axis of the grab bucket to the water surface 2 For the distance of the lowest position of the grab bucket, H 3 Is the depth of water in the water quenching tank, H 4 The height of the grab bucket itself.
Fig. 10 is a schematic view showing the position of the rotation axis of the grapple and the lowest position of the grapple. In addition, H is 1 ，H 2 ，H 3 ，H 4 。H 1 In the examples of the present application, 0.5 m, H 2 In the examples of the present application, 1 meter is taken. Since the opening and closing of the grab are processes of rotating along the shaft, H is calculated 2 The lowest position of the grab bucket is the lowest position when the grab bucket is closed.
The repose angle of kiln A is the minimum angle of the angle between the free surface and the horizontal plane when the free surface of the powder deposit is in the limit state of equilibrium (i.e. the object on the inclined plane will slide down more easily as the inclination angle increases; when the object reaches the state of starting to slide down, the angle of the critical state is called the repose angle). The method is obtained through on-site actual sampling and actual measurement.
After confirming the initial slag grabbing point, the method further comprises an automatic correction process, wherein the automatic correction process comprises the following steps:
fig. 6 is a diagram illustrating a distribution of modified contrast points. Referring to fig. 6, 6 correction comparison points are selected on the middle line of the vertical slag flushing channel of the initial slag grabbing point, and the distance between every two adjacent correction comparison points is 300 mm.
The bridge crane respectively grabs the kiln slag once at the 6 correction comparison points and the initial slag grabbing points.
Step 102, waiting time T for accumulation of kiln slag 1 And then controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, wherein the kiln slag accumulation waiting time is the time taken for the rotary kiln to start discharging until the initial accumulation height of the grabbing slag is allowed.
Grabbing slag after the kiln slag is stacked to the initial stacking height H of the kiln slag, wherein the kiln slag stacking waiting time T 1 Calculated according to the following formula:
v is the initial stacking volume of the kiln slag, s is the slag discharge rate of the kiln slag of the rotary kiln expressed by volume, Q is the slag discharge rate of the kiln slag of the rotary kiln 06 expressed by mass, rho 2 The density of the kiln slag, the calculation coefficient of k for simplifying the calculation of the stacking volume of the kiln slag, the initial stacking height of the kiln slag, and the repose angle of the kiln slag.
And 103, acquiring a signal that the grab 031 contacts the fixed grab slag point according to the grab weight parameter sent by the grab weighing detection device 2.
The step of judging whether the grab bucket contacts the kiln slag specifically comprises the following steps:
the grab weighing detection device acquires a tension parameter W of the no-load grab which is not in contact with the kiln slag 1 。
Grab weighing detection device for acquiring real-time tension parameter W of no-load grab 2 。
If W is 2 ≤k 1 W 1 When the grab bucket contacts the kiln slag, k 1 For adjusting the coefficient, 0.8-0.98 is taken.
And 104, controlling a grab 031 to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab 031 contacts the fixed slag grabbing point.
The full rate acquisition mode is as follows:
when the grab bucket grabs the kiln slag at the 6 correction comparison points and the initial slag grabbing point, and the grab bucket stays in the water of the water quenching tank for 2 seconds, the full grabbing rate is obtained.
Obtaining the volume V of a grab d And the density rho of water in the water quenching tank 1 Density rho of kiln slag 2 The weight m of the real-time grab bucket and the weight m of the no-load grab bucket which are acquired by the grab bucket weighing and detecting device d 。
According to the volume of the grab bucket, the density of water in the water quenching tank, the density of kiln slag, the tension value obtained by the grab bucket weighing detection device and the weight of the no-load grab bucket, obtaining the full grab rate by adopting a full grab rate calculation model, wherein the full grab rate calculation model comprises the following steps:
η 0 the fill rate is indicated.
The specific model acquisition principle is as follows:
F 1 indicating the grab bucket wire rope tension, F 1 The weight value that the grab bucket weighed detection device obtained is mg, m, and g is acceleration of gravity. F 2 Showing the buoyancy of the captured kiln slag under water, F 2 ＝ρ 1 gV z ，ρ 1 Is the density of water, V z The volume of the captured kiln slag. G d Indicating the weight of the empty grab, G d ＝m d g，m d Representing the weight of the empty grab, can be derived from the grab parameters. G z Indicating the weight of the captured kiln slag, G z ＝m z g＝ρ 2 V z， m z Denotes the mass of the kiln slag, p 2 Is the density of the kiln slag.
The forces are as follows: f 1 +F 2 ＝G d +G z (ignoring the buoyancy to which the grab is subjected under water), namely: mg + rho 1 gV z ＝m d g+m z g＝m d g+ρ 2 gV z The following can be obtained:
and when the actual full-grabbing rate is lower than 80 percent of the full-grabbing rate of the fixed slag-grabbing points, automatically correcting again, and selecting new fixed slag-grabbing points to obtain the full-grabbing rate closest to the fixed slag-grabbing points. The fixed slag grabbing point can change along with the long-term operation of the grab bucket, so that when the actual full grabbing rate is lower than 80 percent of the fixed full grabbing rate, the fixed slag grabbing point needs to be corrected again.
And 105, grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field.
Fig. 7 is a top view of the intermediate slag field and the water quenching tank. Referring to fig. 7, after the kiln slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag field, the grab bucket returns to the original position, and after the grab bucket returns to the original position, the slag grabbing for the nth time needs to be carried out at the slag grabbing interval time t n Then, starting to grab the slag for the next time, wherein the time t is the interval between the slag grabbing and the slag grabbing n The calculation model of (a) is:
m n-1 the slag grabbing amount of the last slag grabbing of the nth slag grabbing is more than or equal to 3;
when n is 2, the calculation model of the slag grabbing interval time is as follows:
t 2 the time interval between the first slag grabbing and the second slag grabbing is shown.
After the kiln slag is piled up to a certain height in the water quenching tank 01, the high-efficiency energy-saving automatic slag grabbing operation is carried out, and in the embodiment of the application, the waiting time T for the piling of the kiln slag is 1 And in the slag grabbing interval time, the grabbed kiln slag amount is equal to the slag discharge amount of the rotary kiln, so that the shape of the kiln slag pile and the position of the slag grabbing point with the highest full grabbing rate can be kept unchanged.
According to the technical scheme, the embodiment of the applicationProviding a fixed point slag grasping system, the system comprising: the device comprises a position detection device arranged on the surface of the bridge crane, a grab bucket weighing detection device arranged above the grab bucket and a control unit arranged on the surface of the bridge crane. The control unit is configured to perform the following operations: acquiring relative position parameters of the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameter of the grab bucket center point and the fixed slag grabbing point position parameter sent by the position detection device; waiting time T for piling up kiln slag 1 Then, controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, wherein the kiln slag accumulation waiting time is the time taken for the rotary kiln to start discharging until the initial accumulation height of the grabbing slag is allowed; acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to the grab bucket weight parameter sent by the grab bucket weighing detection device; controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point; and grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field. By adopting the fixed-point slag grabbing system provided by the embodiment of the application, automatic slag grabbing action can be realized, and high grabbing fullness rate is obtained, so that the running times of a bridge crane are reduced, and manpower and material resources are saved.
Fig. 3 is a flowchart of a fixed-point slag grabbing method provided in the embodiment of the present application. The embodiment of the application provides a fixed point slag grabbing method, the fixed point slag grabbing method is applied to a bridge crane, the bridge crane is located directly over a water quenching pool, the bridge crane includes a grab bucket for grabbing materials, the grab bucket can horizontally move or vertically move above the water quenching pool, the grab bucket is used for grabbing the kiln slag in a stacking area to a middle slag field, the bottom of the water quenching pool is close to a slag flushing channel and is the stacking area, and the fixed point slag grabbing method comprises the following steps:
step 201, obtaining the relative position parameter between the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameter of the grab bucket center point and the fixed slag grabbing point position parameter sent by the position detection device.
Step 202, waiting time T is piled up in the kiln slag 1 Then, according to the relative position parameter, controlling the grab bucket to move to a fixed slag grabbing point, wherein the waiting time for the kiln slag accumulation is the beginning of discharging the rotary kilnAnd (3) the time taken for the materials to reach the initial stacking height of the slag.
And 203, acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to the grab bucket weight parameter sent by the grab bucket weighing detection device.
And 204, controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point.
And step 205, grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field.
According to the technical scheme, the embodiment of the application provides a fixed-point slag grabbing system and a method, and the system comprises: the device comprises a position detection device arranged on the surface of the bridge crane, a grab bucket weighing detection device arranged above the grab bucket and a control unit arranged on the surface of the bridge crane. The control unit is configured to perform the following operations: acquiring relative position parameters of the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameter of the grab bucket center point and the fixed slag grabbing point position parameter sent by the position detection device; waiting time T for piling up kiln slag 1 Then, controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, wherein the kiln slag accumulation waiting time is the time taken for the rotary kiln to start discharging until the initial accumulation height of the grabbing slag is allowed; acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to the grab bucket weight parameter sent by the grab bucket weighing detection device; controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point; and grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field. By adopting the fixed-point slag grabbing system provided by the embodiment of the application, automatic slag grabbing action can be realized, and high grabbing fullness rate is obtained, so that the running times of a bridge crane are reduced, and manpower and material resources are saved.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (9)
1. The utility model provides a sediment system is grabbed to fixed point, the system is applied to bridge crane, bridge crane is located directly over the shrend pond, bridge crane is including the grab bucket that is used for grabbing the material, the grab bucket can be at shrend pond top level or vertical migration for grab the regional kiln slag of windrow to middle slag field, shrend bottom is close to towards the sediment passageway and is regional for the windrow, its characterized in that, sediment system is grabbed to the fixed point includes:
the position detection device is arranged on the surface of the bridge crane and used for acquiring the three-dimensional space position of the central point of the grab bucket and the position of a fixed slag grabbing point, and the fixed slag grabbing point is the highest point of a stacking area;
the grab bucket weighing detection device is arranged above the grab bucket; the grab bucket weighing detection device is used for acquiring grab bucket weight parameters;
the control unit is arranged on the surface of the bridge crane, is connected with the position detection device and the grab bucket weighing detection device and controls the grab bucket to move so as to complete fixed-point slag grabbing action;
the control unit is configured to perform the following operations:
acquiring relative position parameters of the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameters of the grab bucket center point and the fixed slag grabbing point position parameters sent by the position detection device;
waiting time T for piling up kiln slag 1 Then, controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, wherein the kiln slag accumulation waiting time is the time for the rotary kiln to start discharging until the initial accumulation height of slag grabbing is allowed;
acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to a grab bucket weight parameter sent by the grab bucket weighing detection device;
controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point;
and grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field.
2. The fixed-point slag grabbing system according to claim 1, wherein the step of judging whether the grab bucket contacts the kiln slag specifically comprises:
the grab bucket weighing detection device acquires a tension parameter W of the no-load grab bucket which is not in contact with the kiln slag 1 ；
Grab weighing detection device for acquiring real-time tension parameter W of no-load grab 2 ；
If W is 2 ≤k 1 W 1 When the grab bucket contacts the kiln slag, k 1 For adjusting the coefficient, 0.8-0.98 is taken.
3. The fixed point slag grabbing system of claim 1, wherein the step of obtaining a fixed slag grabbing point comprises:
confirming a primary slag grabbing point, wherein the primary slag grabbing point is positioned on the middle line of the vertical slag flushing channel;
obtaining the distance between the primary slag grabbing point and the wall of the water quenching tank, and calculating the distance from the wall of the water quenching tank according to the following formula:
d is the distance between the primary slag grabbing point and the wall of the water quenching tank, W is the width of the water quenching tank, H is the initial stacking height of the kiln slag, and A is the repose angle of the kiln slag stack;
the initial stacking height H of the kiln slag is calculated according to the following model:
H＝H 1 -H 2 -H 3 -H 4
H 1 the distance of the position of the rotating shaft of the grab bucket from the water surface, H 2 For the distance of the lowest position of the grab bucket, H 3 Is the depth of water in the water quenching tank, H 4 The height of the grab bucket itself.
4. The fixed-point slag grabbing system according to claim 3, further comprising an automatic correction process after confirming a preliminary slag grabbing point, wherein the automatic correction process comprises:
selecting 6 correction comparison points on the middle line of the initial slag grabbing point vertical slag flushing channel, wherein the distance between every two adjacent correction comparison points is 300 mm;
the bridge crane respectively grabs the primary kiln slag at the 6 correction comparison points and the initial slag grabbing points;
calculating the full grabbing rate of the corrected comparison point and the initial slag grabbing point;
and selecting the position with the highest grabbing fullness as a fixed grabbing slag point according to the grabbing fullness of the correction comparison point and the initial grabbing slag point.
5. The fixed point slag grabbing system of claim 4, wherein the full grabbing rate is obtained as follows:
when the grab bucket grabs the kiln slag at the 6 correction comparison points and the primary slag grabbing point and is positioned in water of the water quenching tank, the grab bucket stays in the water for 2 seconds to obtain the full grabbing rate;
obtaining the volume V of a grab d And the density rho of water in the water quenching tank 1 Density rho of kiln slag 2 The weight m of the real-time grab bucket and the weight m of the no-load grab bucket which are acquired by the grab bucket weighing and detecting device d ；
According to the volume of the grab bucket, the density of water in the water quenching tank, the density of kiln slag, the tension value obtained by the grab bucket weighing detection device and the weight of the no-load grab bucket, obtaining the full grab rate by adopting a full grab rate calculation model, wherein the full grab rate calculation model comprises the following steps:
η 0 the fill rate is indicated.
6. The fixed-point slag grabbing system of claim 4, wherein when the actual full grabbing rate is lower than the full grabbing rate of 80% of the fixed slag grabbing points, automatic correction is performed again, and a new fixed slag grabbing point is selected to obtain the full grabbing rate closest to the fixed slag grabbing points.
7. The fixed point slag grabbing system of claim 1, wherein the kiln slag accumulation waiting time T 1 Calculated according to the following formula:
v is the initial accumulation volume of the kiln slag, s is the slag discharge rate of the rotary kiln slag expressed by volume, Q is the slag discharge rate of the rotary kiln slag expressed by mass, rho 2 The method comprises the following steps of calculating the density of the kiln slag, calculating the coefficient of k for simplifying the calculation of the stacking volume of the kiln slag, calculating the initial stacking height of the kiln slag, and calculating the repose angle of the kiln slag.
8. The fixed-point slag grabbing system of claim 1, wherein the grab bucket returns to the original position after the kiln slag at the fixed slag grabbing point is grabbed from the water quenching tank to the intermediate slag field, and after the grab bucket returns to the original position, the slag grabbing for the nth time needs to be carried out at the slag grabbing interval time t n Then, starting to grab the slag for the next time, wherein the time t is the interval between the slag grabbing and the slag grabbing n The calculation model of (a) is:
m n-1 the slag grabbing amount of the last slag grabbing of the nth slag grabbing is n, n is more than or equal to 3, and Q is the slag-discharging speed of the kiln slag of the rotary kiln expressed by mass;
when n is 2, the calculation model of the slag grabbing interval time is as follows:
t 2 the interval time between the first slag grabbing and the second slag grabbing, V d Is the volume of the grab bucket eta 0 To be full ofRate, ρ 2 Is the density of the kiln slag.
9. A fixed-point slag grabbing method is applied to a bridge crane, the bridge crane is positioned right above a water quenching tank, the bridge crane comprises a grab bucket used for grabbing materials, the grab bucket can horizontally or vertically move above the water quenching tank and is used for grabbing kiln slag in a stacking area to an intermediate slag yard, the bottom of the water quenching tank close to a slag flushing channel is a stacking area, and the fixed-point slag grabbing method comprises the following steps:
acquiring relative position parameters of the grab bucket center point and the fixed slag grabbing point according to the three-dimensional space position parameter of the grab bucket center point and the fixed slag grabbing point position parameter sent by the position detection device;
waiting time T for piling up kiln slag 1 Then, controlling the grab bucket to move to a fixed slag grabbing point according to the relative position parameter, wherein the kiln slag accumulation waiting time is the time taken for the rotary kiln to start discharging until the initial accumulation height of the grabbing slag is allowed;
acquiring a signal of the grab bucket contacting the fixed slag grabbing point according to the grab bucket weight parameter sent by the grab bucket weighing detection device;
controlling the grab bucket to grab the kiln slag at the fixed slag grabbing point according to a signal that the grab bucket contacts the fixed slag grabbing point;
and grabbing the kiln slag at the fixed slag grabbing point from the water quenching tank to an intermediate slag field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210698348.7A CN114940435A (en) | 2022-06-20 | 2022-06-20 | Fixed-point slag grabbing system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210698348.7A CN114940435A (en) | 2022-06-20 | 2022-06-20 | Fixed-point slag grabbing system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114940435A true CN114940435A (en) | 2022-08-26 |
Family
ID=82910591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210698348.7A Pending CN114940435A (en) | 2022-06-20 | 2022-06-20 | Fixed-point slag grabbing system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114940435A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115724344A (en) * | 2022-11-14 | 2023-03-03 | 浙江浙起机械有限公司 | Weighing device of garbage grab bucket crane |
| WO2024060288A1 (en) * | 2022-09-21 | 2024-03-28 | 中冶南方工程技术有限公司 | Method for automatically grabbing slag with granulated blast furnace slag grab crane by means of blast furnace bottom filtration method |
-
2022
- 2022-06-20 CN CN202210698348.7A patent/CN114940435A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060288A1 (en) * | 2022-09-21 | 2024-03-28 | 中冶南方工程技术有限公司 | Method for automatically grabbing slag with granulated blast furnace slag grab crane by means of blast furnace bottom filtration method |
| CN115724344A (en) * | 2022-11-14 | 2023-03-03 | 浙江浙起机械有限公司 | Weighing device of garbage grab bucket crane |
| CN115724344B (en) * | 2022-11-14 | 2023-09-22 | 浙江浙起机械有限公司 | Weighing device of garbage grab bucket crane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114940435A (en) | Fixed-point slag grabbing system and method | |
| CN113528737B (en) | Automatic converter slag remaining process deslagging method and system based on image recognition | |
| JP6602238B2 (en) | Method for estimating melt level in vertical furnace | |
| CN112017145A (en) | Efficient molten iron pretreatment automatic slag skimming method and system | |
| CN111522294A (en) | Automatic control system and method of slag raking machine | |
| CN113528736A (en) | Method and system for automatically pouring slag in converter slag retention process | |
| CN107287385A (en) | Molten iron drossing stays calculating and the control method of slag ratio example | |
| CN115092819A (en) | Automatic slag dragging system | |
| CN113560560A (en) | Aluminum liquid casting system and aluminum liquid casting method | |
| CN110747316A (en) | Automatic control lifting method for RH furnace vacuum treatment buggy ladle | |
| WO2023227113A1 (en) | Real-time slag amount measurement method and system for automatic slag dumping of converter | |
| CN113755667A (en) | Automatic slag skimming dynamic control method and system for molten iron pretreatment | |
| CN113699307B (en) | Intelligent charging control method of continuous charging electric arc furnace | |
| CN212505020U (en) | Intelligent slow cooling device for high-temperature melt | |
| CN114898294A (en) | Slag grabbing control system and method, electronic equipment and storage medium | |
| CN1151281C (en) | Method for in-situ measuring charge of blast furnace | |
| CN108213362A (en) | Feeding device and its charging process are weighed before a kind of casting furnace | |
| CN115072558A (en) | Method, controller and system for cleaning water quenching tank slag | |
| CN111140235B (en) | Slag discharge control method, slag discharge system and slag discharge equipment of vertical shaft heading machine | |
| CN103464703B (en) | A kind of conticaster covering slag automatic adding device | |
| CN115448162B (en) | Automatic slag grabbing method for water slag travelling crane by using blast furnace bottom filtering method | |
| CN220812576U (en) | Zinc pot slag scooping and pouring device for galvanized wire | |
| CN110479974A (en) | A kind of fast quick change slag method of continuous cast mold automatic slag adding machine | |
| CN212299894U (en) | Rotary kiln feeding system and production equipment | |
| CN117806260B (en) | Intelligent material control monitoring method and system based on big data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |